speedl (Auto Mode)

It is an asynchronous type motion command and executes the next command at the same time as the motion starts. This function performs Cartesian velocity control, following the most recent target TCP (Tool Center Point) velocity within the maximum speed and acceleration constraints of consecutive commands.

Also, this API operates only in Auto (Run) mode. It is not available in Manual (Teach) mode.

Definition
DRFLEx.h within class CDRFLEx, public section (line 816)

bool speedl(float fTargetVel[NUM_TASK],
            float fTargetAcc[2],
            float fTargetTime)
{
    return _speedl(_rbtCtrl, fTargetVel, fTargetAcc, fTargetTime);
}

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetVel	float[6]		Target TCP velocity for six Cartesian axes [X, Y, Z, Rx, Ry, Rz].
fTargetAcc	float[2]		Translational and rotational acceleration [mm/s², deg/s²].
fTargetTime	float	0.0f	Command duration [sec]. Automatically adjusted if infeasible.

Return

Value	Description
0	Failed
1	Success

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;
    // Preconditions: Connected, servo ON, Auto mode active

    // Define linear velocity and acceleration in Cartesian space
    float jvel[6] = {10.f, 10.f, 10.f, 10.f, 10.f, 10.f};
    float jacc[2] = {20.f, 20.f};

    // Execute TCP velocity control
    drfl.speedl(jvel, jacc, -10000.f);

    return 0;
}

Note

• If fTargetTime is entered but cannot be maintained due to the maximum speed or acceleration condition, it automatically adjusts and displays a notification message.

• For safety, if no new speedl command is transmitted within 0.1 seconds during motion, the controller raises an error and stops motion.

• speedl is not linked with the change_operation_speed() function.

• It is also not linked with force/stiffness control commands.

• Recommended for smooth Cartesian velocity control, real-time motion streaming, or external controller synchronization.